#ifndef EMCCOMMANDCLASS_H
#define EMCCOMMANDCLASS_H
#include "command.h"

class EmcCommandClass
{
public:
    EmcCommandClass(int robotIdIn);

    static int emcMotSetLine(int robotIdIn);
    static int emcMotSetCircle(int robotIdIn);
    static int emcSetVelLimit(double limitVelIn,int robotIdIn);
    static int emcSetRotateLimit(double rotate_eqradiusIn,int robotIdIn);
    static int emcTpPause(int robotIdIn);
    static int emcTpResume(int robotIdIn);
    static int emcTpClear(int robotIdIn);


    static int inRange(EmcPose pos, int id, char *move_type);
    static int abort_and_switchback(int robotIdIn);
    static int limits_ok();
    static int is_feed_type(int motion_type);
private:
    int robotId;

};

#endif // EMCCOMMANDCLASS_H
